| 基于虚拟切线圆的机器鱼比赛进攻策略 |
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| 引用本文： | 赵盛昌,纪志坚,谢广明,吕培淑. 基于虚拟切线圆的机器鱼比赛进攻策略[J]. 兵工自动化, 2010, 29(11): 89-91. DOI: 10.3969/j.issn.1006-1576.2010.11.026 |
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| 作者姓名： | 赵盛昌 纪志坚 谢广明 吕培淑 |
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| 作者单位： | 青岛大学自动化学院,山东青岛,266071;北京大学工学院,北京,100871;青岛市平度仁兆中学,山东青岛,266741 |
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| 基金项目： | 国家自然科学基金资助(10972003,60604032) |
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| 摘 要： | 为提高机器鱼射门的成功率,提出了基于虚拟切线圆的机器鱼比赛进攻策略。通过切线圆来调整机器鱼的方向,解决了改变方向时电机的抖动和不稳定性问题,使机器鱼快速准确的调整位姿,到达指定的进攻角度和位置,从而达到快速而准确的射门效果。同时,利用模糊控制准确地控制机器鱼的方向,以便更好地进攻。实验证实了该方法的有效性和可行性。
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| 关 键 词： | 进攻策略 虚拟切线圆 模糊控制 |
| 收稿时间： | 2013-01-08 |
Biomimetic Robot-Fish's Attack Strategy Based on Virtual Tangent Circle |
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| Zhao Shengehang,Ji Zhijian,Xie Guangming,Lu Peishu. Biomimetic Robot-Fish's Attack Strategy Based on Virtual Tangent Circle[J]. Ordnance Industry Automation, 2010, 29(11): 89-91. DOI: 10.3969/j.issn.1006-1576.2010.11.026 |
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| Authors: | Zhao Shengehang Ji Zhijian Xie Guangming Lu Peishu |
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| Affiliation: | Zhao Shengchang1,Ji Zhijian1,Xie Guangming2,Lu Peishu3(1.College of Automation,Qingdao University,Qingdao 266071,China,2.College of Engineering,Peking University,Beijing 100871,3.Qingdao Pingdu Renzhao Middle School,Qingdao 266741,China) |
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| Abstract: | In order to improve the successful rate of robotic fish shooting,put forward a new method of offensive strategy based on the virtual tangential circle.Through the tangential circle to adjust the direction of the fish,solve the motor's jitter and instability problems while changing the direction,make the robot fish adjust the position and orientation quickly and accurately,reach the specified angle and location of attack.At the same time,used fuzzy control to control the direction of the robotic fish accurat... |
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| Keywords: | offensive strategy virtual tangential circle fuzzy control |
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